Package yams.mechanisms.config

Class ArmConfig

java.lang.Object

yams.mechanisms.config.ArmConfig

public class ArmConfig
extends Object

Arm configuration class.

Field Summary

Fields

Modifier and Type	Field	Description
protected Optional<String>	networkTableName	The network root of the mechanism (Optional).

Constructor Summary

Constructors

Constructor	Description
ArmConfig()	Arm configuration class.
ArmConfig(SmartMotorController motorController)	Arm Configuration class

Method Summary

Modifier and Type	Method	Description
boolean	applyConfig()	Apply config changes from this class to the SmartMotorController
ArmConfig	clone()
Optional<Distance>	getLength()	Get the Length of the Arm
Optional<Angle>	getLowerHardLimit()	Get the lower hard limit of the Arm
MechanismPositionConfig	getMechanismPositionConfig()	Get the MechanismPositionConfig associated with this ArmConfig.
double	getMOI()	Get the moment of inertia for the Arm simulation.
SmartMotorController	getMotor()	Get the SmartMotorController of the Arm
Color8Bit	getSimColor()	Get sim color
Optional<Angle>	getStartingAngle()	Get the starting angle of the Arm
Optional<String>	getTelemetryName()	Network Tables name for the Arm
Optional<String>	getTelemetryNetworkTableName()	Deprecated.
Optional<SmartMotorControllerConfig.TelemetryVerbosity>	getTelemetryVerbosity()	Get the telemetry verbosity of the Arm
Optional<Angle>	getUpperHardLimit()	Get the Upper hard limit of the Arm.
ArmConfig	withHardLimit(Angle min, Angle max)	Set the Hard Limits for simulation
ArmConfig	withHorizontalZero(Angle horizontalZero)	Set the horizontal zero of the arms absolute encoder.
ArmConfig	withLength(Distance distance)	Configure the Arms length for simulation.
ArmConfig	withMass(Mass mass)	Configure the Arms Mass for simulation.
ArmConfig	withMechanismPositionConfig(MechanismPositionConfig mechanismPositionConfig)	Set the elevator mechanism position configuration.
ArmConfig	withMOI(double MOI)	Deprecated, for removal: This API element is subject to removal in a future version.
ArmConfig	withMOI(MomentOfInertia MOI)	Configure the MOI directly instead of estimating it with the length and mass of the Arm for simulation.
ArmConfig	withSimColor(Color8Bit simColor)	Publish the color in sim as this.
ArmConfig	withSimStartingPosition(Angle simStartingPosition)	Set the simulation starting position of the arm.
ArmConfig	withSmartMotorController(SmartMotorController motorController)	Configure the SmartMotorController for the Arm
ArmConfig	withSoftLimits(Angle lowerLimit, Angle upperLimit)	Set the arm soft limits.
ArmConfig	withStartingPosition(Angle startingPosition)	Set the arm starting angle of the motor controller encoder.
ArmConfig	withTelemetry(String networkRoot, String telemetryName, SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)	Deprecated.
ArmConfig	withTelemetry(String telemetryName, SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)	Configure telemetry for the Arm mechanism.
ArmConfig	withWrapping(Angle min, Angle max)	Wrap the arm around these angles.

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

networkTableName

protected Optional<String> networkTableName

The network root of the mechanism (Optional).

Constructor Details

ArmConfig

public ArmConfig(SmartMotorController motorController)

Arm Configuration class

Parameters:

motorController - Primary SmartMotorController for the Arm

ArmConfig

public ArmConfig()

Arm configuration class. Required

Method Details

clone

public ArmConfig clone()

Overrides:

clone in class Object

withSimStartingPosition

public ArmConfig withSimStartingPosition(Angle simStartingPosition)

Set the simulation starting position of the arm. Only ever used in simulation.

Parameters:

simStartingPosition - Angle of the starting position of the arm.

Returns:

ArmConfig for chaining.

withSmartMotorController

public ArmConfig withSmartMotorController(SmartMotorController motorController)

Configure the SmartMotorController for the Arm

Parameters:

motorController - Primary SmartMotorController for the Arm

Returns:

ArmConfig for chaining.

withSimColor

public ArmConfig withSimColor(Color8Bit simColor)

Publish the color in sim as this.

Parameters:

simColor - Color8Bit to show.

Returns:

ArmConfig for chaining.

withMOI

@Deprecated(since="2026",
            forRemoval=true)
public ArmConfig withMOI(double MOI)

Deprecated, for removal: This API element is subject to removal in a future version.

Configure the MOI directly instead of estimating it with the length and mass of the Arm for simulation.

Parameters:

MOI - Moment of Inertia of the Arm. in Units.KilogramSquareMeters

Returns:

ArmConfig for chaining.

Implementation Note:

Please use withMOI(MomentOfInertia) instead. Default unit is KilogramSquareMeters

withMOI

public ArmConfig withMOI(MomentOfInertia MOI)

Configure the MOI directly instead of estimating it with the length and mass of the Arm for simulation.

Parameters:

MOI - Moment of Inertia of the Arm

Returns:

ArmConfig for chaining.

withLength

public ArmConfig withLength(Distance distance)

Configure the Arms length for simulation.

Parameters:

distance - Length of the Arm.

Returns:

ArmConfig for chaining.

withMass

public ArmConfig withMass(Mass mass)

Configure the Arms Mass for simulation.

Parameters:

mass - Mass of the Arm

Returns:

ArmConfig for chaining.

withTelemetry

public ArmConfig withTelemetry(String telemetryName,
 SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)

Configure telemetry for the Arm mechanism.

Parameters:

telemetryName - Telemetry NetworkTable name to appear under "SmartDashboard/"

telemetryVerbosity - Telemetry verbosity to apply.

Returns:

ArmConfig for chaining.

withTelemetry

@Deprecated
public ArmConfig withTelemetry(String networkRoot,
 String telemetryName,
 SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)

Deprecated.

Configure telemetry for the Arm mechanism.

Parameters:

networkRoot - Telemetry NetworkTable

telemetryName - Telemetry NetworkTable name to appear under _networkTableName_

telemetryVerbosity - Telemetry verbosity to apply.

Returns:

ArmConfig for chaining.

withMechanismPositionConfig

public ArmConfig withMechanismPositionConfig(MechanismPositionConfig mechanismPositionConfig)

Set the elevator mechanism position configuration.

Parameters:

mechanismPositionConfig - MechanismPositionConfig for the Elevator

Returns:

PivotConfig for chaining

withHorizontalZero

public ArmConfig withHorizontalZero(Angle horizontalZero)

Set the horizontal zero of the arms absolute encoder.

Parameters:

horizontalZero - Offset of the arm that will make the arm read 0 when horizontal.

Returns:

ArmConfig for chaining.

withStartingPosition

public ArmConfig withStartingPosition(Angle startingPosition)

Set the arm starting angle of the motor controller encoder.

Parameters:

startingPosition - Starting position of the arm.

Returns:

ArmConfig for chaining

withSoftLimits

public ArmConfig withSoftLimits(Angle lowerLimit,
 Angle upperLimit)

Set the arm soft limits. When exceeded the power will be set to 0.

Parameters:

lowerLimit - Minimum rotation of the arm.

upperLimit - Maximum rotation of the arm.

Returns:

ArmConfig for chaining.

withWrapping

public ArmConfig withWrapping(Angle min,
 Angle max)

Wrap the arm around these angles. When the arm exceeds the maximum angle it will read as if it is the minimum angle.

Parameters:

min - Minimum angle for wrapping

max - Maximum angle for wrapping.

Returns:

ArmConfig for chaining.

withHardLimit

public ArmConfig withHardLimit(Angle min,
 Angle max)

Set the Hard Limits for simulation

Parameters:

min - Angle where the physical stop appears.

max - Angle where the physical stop appears

Returns:

ArmConfig for chaining.

applyConfig

public boolean applyConfig()

Apply config changes from this class to the SmartMotorController

Returns:

SmartMotorController.applyConfig(SmartMotorControllerConfig) result.

getLength

public Optional<Distance> getLength()

Get the Length of the Arm

Returns:

Distance of the Arm.

getMOI

public double getMOI()

Get the moment of inertia for the Arm simulation.

Returns:

Moment of Inertia.

getUpperHardLimit

public Optional<Angle> getUpperHardLimit()

Get the Upper hard limit of the Arm.

Returns:

Angle hard limit.

getLowerHardLimit

public Optional<Angle> getLowerHardLimit()

Get the lower hard limit of the Arm

Returns:

Angle hard limit.

getTelemetryVerbosity

public Optional<SmartMotorControllerConfig.TelemetryVerbosity> getTelemetryVerbosity()

Get the telemetry verbosity of the Arm

Returns:

SmartMotorControllerConfig.TelemetryVerbosity of the Arm

getTelemetryName

public Optional<String> getTelemetryName()

Network Tables name for the Arm

Returns:

Network Tables name.

getStartingAngle

public Optional<Angle> getStartingAngle()

Get the starting angle of the Arm

Returns:

Angle of the Arm

getMotor

public SmartMotorController getMotor()

Get the SmartMotorController of the Arm

Returns:

SmartMotorController for the Arm

getSimColor

public Color8Bit getSimColor()

Get sim color

Returns:

sim color.

getMechanismPositionConfig

public MechanismPositionConfig getMechanismPositionConfig()

Get the MechanismPositionConfig associated with this ArmConfig.

Returns:

An Optional containing the MechanismPositionConfig if present, otherwise an empty Optional.

getTelemetryNetworkTableName

@Deprecated
public Optional<String> getTelemetryNetworkTableName()

Deprecated.

Get the telemetry network subtable of the mechanism.

Returns:

Optional containing the telemetry network subtable if set, otherwise an empty Optional.